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<h1>hitechnic-compass-test1.c</h1>  </div>
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<div class="fragment"><pre class="fragment"><span class="preprocessor">#pragma config(Sensor, S1,     HTMC,                sensorI2CCustom)</span>
<span class="preprocessor"></span><span class="comment">//*!!Code automatically generated by &#39;ROBOTC&#39; configuration wizard               !!*//</span>

<span class="comment">/*</span>
<span class="comment"> * $Id: hitechnic-compass-test1.c 133 2013-03-10 15:15:38Z xander $</span>
<span class="comment"> */</span>
<span class="comment"></span>
<span class="comment">/**</span>
<span class="comment"> * hitechnic-compass.h provides an API for the HiTechnic Compass Sensor.  This program</span>
<span class="comment"> * demonstrates how to use that API.</span>
<span class="comment"> *</span>
<span class="comment"> * Changelog:</span>
<span class="comment"> * - 0.1: Initial release</span>
<span class="comment"> * - 0.2: More comments</span>
<span class="comment"> *</span>
<span class="comment"> * License: You may use this code as you wish, provided you give credit where it&#39;s due.</span>
<span class="comment"> *</span>
<span class="comment"> * THIS CODE WILL ONLY WORK WITH ROBOTC VERSION 3.59 AND HIGHER. </span>
<span class="comment"></span>
<span class="comment"> * Xander Soldaat (xander_at_botbench.com)</span>
<span class="comment"> * 25 November 2009</span>
<span class="comment"> * version 0.2</span>
<span class="comment"> */</span>

<span class="preprocessor">#include &quot;<a class="code" href="hitechnic-compass_8h.html" title="HiTechnic Magnetic Compass Sensor Driver.">drivers/hitechnic-compass.h</a>&quot;</span>

task main () {
  <span class="keywordtype">int</span> _target = 0;

  nxtDisplayCenteredTextLine(0, <span class="stringliteral">&quot;HiTechnic&quot;</span>);
  nxtDisplayCenteredBigTextLine(1, <span class="stringliteral">&quot;Compass&quot;</span>);
  nxtDisplayCenteredTextLine(3, <span class="stringliteral">&quot;Test 1&quot;</span>);
  nxtDisplayTextLine(5, <span class="stringliteral">&quot;Press enter&quot;</span>);
  nxtDisplayTextLine(6, <span class="stringliteral">&quot;to set target&quot;</span>);

  wait1Msec(2000);
  eraseDisplay();
  time1[T1] = 0;
  <span class="keywordflow">while</span>(<span class="keyword">true</span>) {
    <span class="comment">// Reset the target no more than once a second</span>
    <span class="comment">// This also helps with debouncing the [enter] button.</span>
    <span class="keywordflow">if</span> (time1[T1] &gt; 1000) {
      eraseDisplay();
      nxtDisplayTextLine(1, <span class="stringliteral">&quot;Changing&quot;</span>);
      nxtDisplayTextLine(2, <span class="stringliteral">&quot;target&quot;</span>);
      wait1Msec(500);
      <span class="comment">// Set the current heading as the value for the offset to be used as the</span>
      <span class="comment">// new zero-point for the relative heading returned by</span>
      <span class="comment">// HTMCreadRelativeHeading()</span>
      _target = <a name="a0"></a><a class="code" href="group__htmc.html#ga9a2d57e28c842dd6c17d7fefa710d9f6">HTMCsetTarget</a>(HTMC);
      PlaySound(soundBlip);
      <span class="keywordflow">while</span>(bSoundActive) EndTimeSlice();
      time1[T1] = 0;
    }

    <span class="comment">// Get the true heading and relative heading from the sensor and</span>
    <span class="comment">// display them on the screen.</span>
    <span class="keywordflow">while</span>(nNxtButtonPressed != kEnterButton) {
      eraseDisplay();
      nxtDisplayTextLine(1, <span class="stringliteral">&quot;Reading&quot;</span>);
      nxtDisplayTextLine(2, <span class="stringliteral">&quot;Target: %4d&quot;</span>, _target);
      nxtDisplayTextLine(4, <span class="stringliteral">&quot;Abs:   %4d&quot;</span>, <a name="a1"></a><a class="code" href="group__htmc.html#ga7a3b9d7ab1534aff122cc17dd5dddc8c">HTMCreadHeading</a>(HTMC));
      nxtDisplayTextLine(5, <span class="stringliteral">&quot;Rel:   %4d&quot;</span>, <a name="a2"></a><a class="code" href="group__htmc.html#gad79490282956e892854a6a640f73eb65">HTMCreadRelativeHeading</a>(HTMC));
      nxtDisplayTextLine(6, <span class="stringliteral">&quot;Press enter&quot;</span>);
      nxtDisplayTextLine(7, <span class="stringliteral">&quot;to set target&quot;</span>);
      wait1Msec(100);
    }
  }
}

<span class="comment">/*</span>
<span class="comment"> * $Id: hitechnic-compass-test1.c 133 2013-03-10 15:15:38Z xander $</span>
<span class="comment"> */</span>
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